CN106945719A - A kind of composite turning system and its mode switching method - Google Patents
A kind of composite turning system and its mode switching method Download PDFInfo
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- CN106945719A CN106945719A CN201710028376.7A CN201710028376A CN106945719A CN 106945719 A CN106945719 A CN 106945719A CN 201710028376 A CN201710028376 A CN 201710028376A CN 106945719 A CN106945719 A CN 106945719A
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- 239000002131 composite material Substances 0.000 title claims abstract description 18
- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000001133 acceleration Effects 0.000 claims abstract description 51
- 230000000694 effects Effects 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000021715 photosynthesis, light harvesting Effects 0.000 description 1
- 238000012913 prioritisation Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0418—Electric motor acting on road wheel carriers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The invention discloses a kind of composite turning system and its mode switching method, the system includes electric boosting steering system and wire controlled four wheel steering system, including an assist motor and four wheel hub motors.According to pilot control steering wheel angle and automobile speed, current yaw velocity is calculated.The present invention proposes composite turning system model changing method according to yaw velocity, side acceleration, automobile speed and steering wheel angle, realize the working condition for switching assist motor and wheel hub motor in different speeds and driver's different operating, different power-assisted effects are provided, ensure automobile light and flexible in low speed Turning travel, high speed steering is reliable and stable when travelling.
Description
Technical field
The present invention relates to steering technical field, more particularly to a kind of composite turning system and its mode switching method.
Background technology
Automobile steering system is the crucial assembly for determining vehicle active safety, and orthodox car steering is mechanical system
System, the divertical motion of automobile is, by pilot control steering wheel, to be delivered to steered wheel by steering gear and realize.
Automobile steer-by-wire system eliminates the mechanical connection between steering wheel and deflecting roller, is turned completely by automatically controlled realize
To, broken away from the various limitations of conventional steering system, not only can the force transfering characteristic that turns to of free design vehicle, and can be with
The angle transmission characteristic that design vehicle is turned to, the design to motor turning characteristic brings immensity, is automobile steering system
Significant innovation.But simultaneously because without mechanical connection, reliability is poor.
It is smaller that electric boosting steering system can be provided power-assisted.For motorbus, sometimes electric power steering
System is difficult to meet power steering.Corresponding power steering can be provided under any circumstance in order to meet automobile, it may be necessary to
Two sets of servo steering systems are intervened simultaneously, but two sets of servo steering systems are while when working, can produce certain energy dissipation.
The content of the invention
The technical problems to be solved by the invention are to be directed to defect involved in background technology and be combined there is provided one kind to turn
To system and its mode switching method.
The present invention uses following technical scheme to solve above-mentioned technical problem：
A kind of composite turning system, including electric boosting steering system and wire controlled four wheel steering system；
The electric boosting steering system includes steering wheel, steering wheel angle sensor, steering column, reducing gear, clutch
Device, assist motor, course changing control ECU, vehicle speed sensor, lateral acceleration sensor and rack and pinion steering gear；
The wire controlled four wheel steering system includes front axle, the near front wheel wheel hub motor, off-front wheel wheel hub motor, motor control list
Member, left rear wheel wheel hub motor, off hind wheel wheel hub motor and rear axle；
The steering wheel of described steering column one end and automobile is fixedly linked, and the other end passes through the rack and pinion steering gear and institute
Front axle is stated to be connected；
The steering wheel angle sensor is arranged on steering column, the corner for obtaining steering wheel；
The assist motor is connected by clutch with reducing gear input, for providing power steering；
The reducing gear output end is arranged on steering column；
The vehicle speed sensor and lateral acceleration sensor are arranged on body of a motor car, are respectively used to obtain automobile speed
With automobile side angle acceleration；
Front axle two ends the near front wheel respectively with automobile, off-front wheel are connected；
The near front wheel wheel hub motor, off-front wheel wheel hub motor are separately mounted to the near front wheel, on off-front wheel, are respectively used to drive
The near front wheel of electrical automobile, off-front wheel；
Rear axle two ends left rear wheel respectively with automobile, off hind wheel are connected；
The left rear wheel wheel hub motor, off hind wheel wheel hub motor are separately mounted to left rear wheel, on off hind wheel, are respectively used to drive
The left rear wheel of electrical automobile, off hind wheel；
The course changing control ECU respectively with assist motor, steering wheel angle sensor, vehicle speed sensor, side acceleration
Sensor, motor control unit are electrically connected, for being passed according to steering wheel angle sensor, vehicle speed sensor, side acceleration
Steering wheel angle that sensor is measured, automobile speed, side acceleration control assist motor work, calculate the near front wheel wheel hub motor,
Off-front wheel wheel hub motor, left rear wheel wheel hub motor, the torque of off hind wheel wheel hub motor simultaneously produce corresponding current signal and passed to
The motor control unit；
The motor control unit respectively with the near front wheel wheel hub motor, off-front wheel wheel hub motor, left rear wheel wheel hub motor, the right side
Rear wheel hub motors, course changing control ECU are electrically connected, for according to the current signal that receives control the near front wheel wheel hub motor,
Off-front wheel wheel hub motor, left rear wheel wheel hub motor and the work of off hind wheel wheel hub motor.
The invention also discloses a kind of mode switching method based on the composite turning system, comprise the steps of：
Step 1), the steering wheel angle and vehicle speed sensor that course changing control ECU is measured according to steering wheel angle sensor are surveyed
The current automobile yaw velocity of automobile speed signal of change obtained；
Step 2), course changing control ECU adds according to current yaw velocity, automobile speed, steering wheel angle and automobile side angle
Speed is calculated behind current power-assisted needed for turning to and the near front wheel wheel hub motor, off-front wheel wheel hub motor, left rear wheel wheel hub motor, the right side
Take turns the torque of wheel hub motor；
Step 3), course changing control ECU is according to the near front wheel wheel hub motor, off-front wheel wheel hub motor, left rear wheel wheel hub motor, the right side
The torque of rear wheel hub motors produces corresponding current signal and passes to motor control unit；
Step 4), course changing control ECU will calculate obtained yaw velocity ωrWith default automobile limit yaw angular speed
Threshold value ωr0Compare；The automobile speed u that vehicle speed sensor is measured respectively with default automobile low velocity threshold u1, default automobile
High Speed Threshold u2Compare；The steering wheel angle θ that steering wheel angle sensor is measuredswWith default steering wheel angle threshold θsw0
Compare；The automobile side angle acceleration a that lateral acceleration sensor is measuredyWith default automobile lateral acceleration limit threshold value ay0
Compare；
Step 4.1), as yaw velocity ωr＞ ωr0When；
Step 4.1.1), course changing control ECU control assist motors do not work；
Step 4.1.2), motor control unit controls the near front wheel wheel hub motor and off-front wheel wheel hub motor not to work and root
According to the current signal left rear wheel wheel hub motor and off hind wheel wheel hub motor reverse operation received；
Step 4.2), as yaw velocity ωr＜ ωr0, side acceleration ay＞ ay0When；
Step 4.2.1), course changing control ECU control assist motors do not work；
Step 4.2.2), motor control unit controls the near front wheel wheel hub motor and off-front wheel according to the current signal received
The work of wheel hub motor forward direction, control left rear wheel wheel hub motor and off hind wheel wheel hub motor reverse operation；
Step 4.3), as yaw velocity ωr＜ ωr0, side acceleration ay＜ ay0, automobile speed u ＜ u1, steering wheel turn
Angle θsw＞ θsw0When；
Step 4.3.1), course changing control ECU Power assisted control assist motor forward direction work according to needed for when front steering；
Step 4.3.2), motor control unit controls the near front wheel wheel hub motor and off-front wheel according to the current signal received
The work of wheel hub motor forward direction, control left rear wheel wheel hub motor and the forward direction work of off hind wheel wheel hub motor；
Step 4.4), as yaw velocity ωr＜ ωr0, side acceleration ay＜ ay0, automobile speed u ＜ u1, steering wheel turn
Angle θsw＜ θsw0When；
Step 4.4.1), course changing control ECU control assist motors do not work；
Step 4.4.2), motor control unit controls the near front wheel wheel hub motor and off-front wheel according to the current signal received
The work of wheel hub motor forward direction, control left rear wheel wheel hub motor and the forward direction work of off hind wheel wheel hub motor；
Step 4.5), as yaw velocity ωr＜ ωr0, side acceleration ay＜ ay0, automobile speed u1＜ u ＜ u2, direction
Disk rotational angle thetasw＞ θsw0When；
Step 4.5.1), course changing control ECU Power assisted control assist motor forward direction work according to needed for when front steering；
Step 4.5.2), motor control unit controls the near front wheel wheel hub motor and off-front wheel according to the current signal received
The work of wheel hub motor forward direction, control left rear wheel wheel hub motor and off hind wheel wheel hub motor reverse operation；
Step 4.6), as yaw velocity ωr＜ ωr0, side acceleration ay＜ ay0, automobile speed u1＜ u ＜ u2, direction
Disk rotational angle thetasw＜ θsw0When；
Step 4.6.1), course changing control ECU Power assisted control assist motor forward direction work according to needed for when front steering；
Step 4.6.2), motor control unit controls the near front wheel wheel hub motor and off-front wheel according to the current signal received
Wheel hub motor forward direction work, and control left rear wheel wheel hub motor and off hind wheel wheel hub motor not to work；
Step 4.7), as yaw velocity ωr＜ ωr0, side acceleration ay＜ ay0, automobile speed u ＞ u2, steering wheel turn
Angle θsw＞ θsw0When；
Step 4.7.1), course changing control ECU Power assisted control assist motor forward direction work according to needed for when front steering；
Step 4.7.2), motor control unit controls the near front wheel wheel hub motor and off-front wheel wheel hub motor not to work, and root
According to the current signal control left rear wheel wheel hub motor and off hind wheel wheel hub motor reverse operation received；
Step 4.8), as yaw velocity ωr＜ ωr0, side acceleration ay＜ ay0, automobile speed u ＞ u2, steering wheel turn
Angle θsw＜ θsw0When；
Step 4.8.1), course changing control ECU Power assisted control assist motor forward direction work according to needed for when front steering；
Step 4.8.2), motor control unit controls the near front wheel wheel hub motor and off-front wheel wheel hub motor not to work, control
Left rear wheel wheel hub motor and off hind wheel wheel hub motor do not work.
It is used as a kind of further prioritization scheme of mode switching method of composite turning system of the invention, step 1) middle steering
The automobile speed signal of change that the steering wheel angle and vehicle speed sensor that control ECU is measured according to steering wheel angle sensor are measured
The formula of current automobile yaw velocity is as follows：
In formula：a0=k1k2(a+b)2+(k2b-k1a)mu2；b0=k1k2(a+b)u；Before a arrives for barycenter
Axle wheelbase；B is barycenter to rear axle wheelbase；L=a+b；U is car speed；ωrFor automobile yaw velocity；θswTurn for steering wheel
Angle；KsScope can like according to driver to be chosen, and the scope is 0.12-0.37 1/s；k1、k2For front and back wheel cornering stiffness；M is
Complete vehicle quality.
The present invention uses above technical scheme compared with prior art, with following technique effect：
1. setting up electric boosting steering system on the basis of line traffic control four-wheel steering system, wire controlled four wheel steering system can be made up
The problem of poor reliability of uniting.
2. it can solve the problem that the problem of electric power steering can not provide enough power steerings.
3. can be operated according to different automobile running working conditions and driver, switch different power steering mode of operations,
Different power-assisted effects are provided.
Brief description of the drawings
Fig. 1 is composite turning system construction drawing of the present invention；
Fig. 2 is mode switching method control flow chart of the present invention.
In figure, 1- steering wheels, 2- steering wheel angle sensors, 3- steering columns, 4- reducing gears, 5- clutches, 6- power-assisteds
Motor, 7- course changing controls ECU, 8- vehicle speed sensor, 9- lateral acceleration sensors, 10- rack and pinion steering gears, 11- front axles,
12- the near front wheel wheel hub motors, 13- off-front wheel wheel hub motors, 14- motor control units, 15- left rear wheel wheel hub motors, after 16- is right
Take turns wheel hub motor, 17- rear axles.
Embodiment
Technical scheme is described in further detail below in conjunction with the accompanying drawings：
As shown in figure 1, the present invention develops a kind of composite turning system, including electric boosting steering system and line traffic control four-wheel
Steering；
The electric boosting steering system includes steering wheel, steering wheel angle sensor, steering column, reducing gear, clutch
Device, assist motor, course changing control ECU, vehicle speed sensor, lateral acceleration sensor and rack and pinion steering gear；
The wire controlled four wheel steering system includes front axle, the near front wheel wheel hub motor, off-front wheel wheel hub motor, motor control list
Member, left rear wheel wheel hub motor, off hind wheel wheel hub motor and rear axle；
The steering wheel of described steering column one end and automobile is fixedly linked, and the other end passes through the rack and pinion steering gear and institute
Front axle is stated to be connected；
The steering wheel angle sensor is arranged on steering column, the corner for obtaining steering wheel；
The assist motor is connected by clutch with reducing gear input, for providing power steering；
The reducing gear output end is arranged on steering column；
The vehicle speed sensor and lateral acceleration sensor are arranged on body of a motor car, are respectively used to obtain automobile speed
With automobile side angle acceleration；
Front axle two ends the near front wheel respectively with automobile, off-front wheel are connected；
The near front wheel wheel hub motor, off-front wheel wheel hub motor are separately mounted to the near front wheel, on off-front wheel, are respectively used to drive
The near front wheel of electrical automobile, off-front wheel；
Rear axle two ends left rear wheel respectively with automobile, off hind wheel are connected；
The left rear wheel wheel hub motor, off hind wheel wheel hub motor are separately mounted to left rear wheel, on off hind wheel, are respectively used to drive
The left rear wheel of electrical automobile, off hind wheel；
The course changing control ECU respectively with assist motor, steering wheel angle sensor, vehicle speed sensor, side acceleration
Sensor, motor control unit are electrically connected, for steering wheel angle sensor, vehicle speed sensor, lateral acceleration sensor
The data control assist motor work measured, calculate the near front wheel wheel hub motor, off-front wheel wheel hub motor, left rear wheel wheel hub motor,
The torque of off hind wheel wheel hub motor simultaneously produces corresponding current signal and passes to the motor control unit；
The motor control unit respectively with the near front wheel wheel hub motor, off-front wheel wheel hub motor, left rear wheel wheel hub motor, the right side
Rear wheel hub motors, course changing control ECU are electrically connected, for according to the current signal that receives control the near front wheel wheel hub motor,
Off-front wheel wheel hub motor, left rear wheel wheel hub motor and the work of off hind wheel wheel hub motor.
As shown in Fig. 2 the present invention also disclosed a kind of composite turning system model changing method, comprise the following steps：
Step 1), the steering wheel angle and vehicle speed sensor that course changing control ECU is measured according to steering wheel angle sensor are surveyed
The current automobile yaw velocity of automobile speed signal of change obtained：
In formula：a0=k1k2(a+b)2+(k2b-k1a)mu2；b0=k1k2(a+b)u；Before a arrives for barycenter
Axle wheelbase；B is barycenter to rear axle wheelbase；L=a+b；U is car speed；ωrFor automobile yaw velocity；θswTurn for steering wheel
Angle；KsScope can like according to driver to be chosen, and the scope is 0.12-0.37 1/s；k1、k2For front and back wheel cornering stiffness；M is
Complete vehicle quality.
Step 2), course changing control ECU adds according to current yaw velocity, automobile speed, steering wheel angle and automobile side angle
Speed is calculated behind current power-assisted needed for turning to and the near front wheel wheel hub motor, off-front wheel wheel hub motor, left rear wheel wheel hub motor, the right side
Take turns the torque of wheel hub motor；
Step 3), course changing control ECU is according to the near front wheel wheel hub motor, off-front wheel wheel hub motor, left rear wheel wheel hub motor, the right side
The torque of rear wheel hub motors produces corresponding current signal and passes to motor control unit；
Step 4), course changing control ECU will calculate obtained yaw velocity ωrWith default automobile limit yaw angular speed
Threshold value ωr0Compare；The automobile speed u that vehicle speed sensor is measured respectively with default automobile low velocity threshold u1, default automobile
High Speed Threshold u2Compare；The steering wheel angle θ that steering wheel angle sensor is measuredswWith default steering wheel angle threshold θsw0
Compare；The automobile side angle acceleration a that lateral acceleration sensor is measuredyWith default automobile lateral acceleration limit threshold value ay0
Compare；
Step 4.1), as yaw velocity ωr＞ ωr0When, using four-wheel steering pattern 1：
Step 4.1.1), course changing control ECU control assist motors do not work；
Step 4.1.2), motor control unit controls the near front wheel wheel hub motor and off-front wheel wheel hub motor not to work and root
According to the current signal left rear wheel wheel hub motor and off hind wheel wheel hub motor reverse operation received；
Step 4.2), as yaw velocity ωr＜ ωr0, side acceleration ay＞ ay0When, using four-wheel steering pattern 2：
Step 4.2.1), course changing control ECU control assist motors do not work；
Step 4.2.2), motor control unit controls the near front wheel wheel hub motor and off-front wheel according to the current signal received
The work of wheel hub motor forward direction, control left rear wheel wheel hub motor and off hind wheel wheel hub motor reverse operation；
Step 4.3), as yaw velocity ωr＜ ωr0, side acceleration ay＜ ay0, automobile speed u ＜ u1, steering wheel turn
Angle θsw＞ θsw0When, using composite turning pattern 1：
Step 4.3.1), course changing control ECU Power assisted control assist motor forward direction work according to needed for when front steering；
Step 4.3.2), motor control unit controls the near front wheel wheel hub motor and off-front wheel according to the current signal received
The work of wheel hub motor forward direction, control left rear wheel wheel hub motor and the forward direction work of off hind wheel wheel hub motor；
Step 4.4), as yaw velocity ωr＜ ωr0, side acceleration ay＜ ay0, automobile speed u ＜ u1, steering wheel turn
Angle θsw＜ θsw0When, using four-wheel steering pattern 3：
Step 4.4.1), course changing control ECU control assist motors do not work；
Step 4.4.2), motor control unit controls the near front wheel wheel hub motor and off-front wheel according to the current signal received
The work of wheel hub motor forward direction, control left rear wheel wheel hub motor and the forward direction work of off hind wheel wheel hub motor；
Step 4.5), as yaw velocity ωr＜ ωr0, side acceleration ay＜ ay0, automobile speed u1＜ u ＜ u2, direction
Disk rotational angle thetasw＞ θsw0When, using composite turning pattern 2：
Step 4.5.1), course changing control ECU Power assisted control assist motor forward direction work according to needed for when front steering；
Step 4.5.2), motor control unit controls the near front wheel wheel hub motor and off-front wheel according to the current signal received
The work of wheel hub motor forward direction, control left rear wheel wheel hub motor and off hind wheel wheel hub motor reverse operation；
Step 4.6), as yaw velocity ωr＜ ωr0, side acceleration ay＜ ay0, automobile speed u1＜ u ＜ u2, direction
Disk rotational angle thetasw＜ θsw0When, using composite turning pattern 3：
Step 4.6.1), course changing control ECU Power assisted control assist motor forward direction work according to needed for when front steering；
Step 4.6.2), motor control unit controls the near front wheel wheel hub motor and off-front wheel according to the current signal received
Wheel hub motor forward direction work, and control left rear wheel wheel hub motor and off hind wheel wheel hub motor not to work；
Step 4.7), as yaw velocity ωr＜ ωr0, side acceleration ay＜ ay0, automobile speed u ＞ u2, steering wheel turn
Angle θsw＞ θsw0When, using composite turning pattern 4：
Step 4.7.1), course changing control ECU Power assisted control assist motor forward direction work according to needed for when front steering；
Step 4.7.2), motor control unit controls the near front wheel wheel hub motor and off-front wheel wheel hub motor not to work, and root
According to the current signal control left rear wheel wheel hub motor and off hind wheel wheel hub motor reverse operation received；
Step 4.8), as yaw velocity ωr＜ ωr0, side acceleration ay＜ ay0, automobile speed u ＞ u2, steering wheel turn
Angle θsw＜ θsw0When, using electric power steering pattern：
Step 4.8.1), course changing control ECU Power assisted control assist motor forward direction work according to needed for when front steering；
Step 4.8.2), motor control unit controls the near front wheel wheel hub motor and off-front wheel wheel hub motor not to work, control
Left rear wheel wheel hub motor and off hind wheel wheel hub motor do not work.
In formula：ωr0It is preferential to use vehicle steadily operating mode limit inferior yaw velocity；ay0It is preferential to use vehicle steadily operating mode
Limit inferior side acceleration.
Those skilled in the art of the present technique are it is understood that unless otherwise defined, all terms used herein (including skill
Art term and scientific terminology) with the general understanding identical meaning with the those of ordinary skill in art of the present invention.Also
It should be understood that those terms defined in such as general dictionary should be understood that with the context of prior art
The consistent meaning of meaning, and unless defined as here, will not be explained with idealization or excessively formal implication.
Above-described embodiment, has been carried out further to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail, should be understood that the embodiment that the foregoing is only the present invention, be not limited to this hair
Bright, within the spirit and principles of the invention, any modifications, equivalent substitutions and improvements done etc. should be included in the present invention
Protection domain within.
Claims (3)
1. a kind of composite turning system, it is characterised in that including electric boosting steering system and wire controlled four wheel steering system；
The electric boosting steering system comprising steering wheel, steering wheel angle sensor, steering column, reducing gear, clutch, help
Force motor, course changing control ECU, vehicle speed sensor, lateral acceleration sensor and rack and pinion steering gear；
The wire controlled four wheel steering system include front axle, the near front wheel wheel hub motor, off-front wheel wheel hub motor, motor control unit,
Left rear wheel wheel hub motor, off hind wheel wheel hub motor and rear axle；
The steering wheel of described steering column one end and automobile is fixedly linked, the other end by the rack and pinion steering gear and it is described before
Axle is connected；
The steering wheel angle sensor is arranged on steering column, the corner for obtaining steering wheel；
The assist motor is connected by clutch with reducing gear input, for providing power steering；
The reducing gear output end is arranged on steering column；
The vehicle speed sensor and lateral acceleration sensor are arranged on body of a motor car, are respectively used to obtain automobile speed and vapour
Car side acceleration；
Front axle two ends the near front wheel respectively with automobile, off-front wheel are connected；
The near front wheel wheel hub motor, off-front wheel wheel hub motor are separately mounted to the near front wheel, on off-front wheel, are respectively used to drive vapour
The near front wheel of car, off-front wheel；
Rear axle two ends left rear wheel respectively with automobile, off hind wheel are connected；
The left rear wheel wheel hub motor, off hind wheel wheel hub motor are separately mounted to left rear wheel, on off hind wheel, are respectively used to drive vapour
The left rear wheel of car, off hind wheel；
The course changing control ECU is sensed with assist motor, steering wheel angle sensor, vehicle speed sensor, side acceleration respectively
Device, motor control unit are electrically connected, for according to steering wheel angle sensor, vehicle speed sensor, lateral acceleration sensor
The steering wheel angle that measures, automobile speed, side acceleration control assist motor work, calculate the near front wheel wheel hub motor, it is right before
Wheel wheel hub motor, left rear wheel wheel hub motor, the torque of off hind wheel wheel hub motor and produce corresponding current signal pass to it is described
Motor control unit；
The motor control unit respectively with the near front wheel wheel hub motor, off-front wheel wheel hub motor, left rear wheel wheel hub motor, off hind wheel
Wheel hub motor, course changing control ECU are electrically connected, for being controlled according to the current signal received before the near front wheel wheel hub motor, the right side
Take turns wheel hub motor, left rear wheel wheel hub motor and the work of off hind wheel wheel hub motor.
2. the mode switching method based on the composite turning system described in claims 1, it is characterised in that include following step
Suddenly：
Step 1), what the steering wheel angle and vehicle speed sensor that course changing control ECU is measured according to steering wheel angle sensor were measured
The current automobile yaw velocity of automobile speed signal of change；
Step 2), course changing control ECU is according to current yaw velocity, automobile speed, steering wheel angle and automobile side angle acceleration
Calculate and work as power-assisted needed for front steering and the near front wheel wheel hub motor, off-front wheel wheel hub motor, left rear wheel wheel hub motor, off hind wheel wheel
The torque of hub motor；
Step 3), course changing control ECU is according to the near front wheel wheel hub motor, off-front wheel wheel hub motor, left rear wheel wheel hub motor, off hind wheel
The torque of wheel hub motor produces corresponding current signal and passes to motor control unit；
Step 4), course changing control ECU will calculate obtained yaw velocity ωrWith default automobile limit yaw angular speed threshold value
ωr0Compare；The automobile speed u that vehicle speed sensor is measured respectively with default automobile low velocity threshold u1, default automobile high-speed
Threshold value u2Compare；The steering wheel angle θ that steering wheel angle sensor is measuredswWith default steering wheel angle threshold θsw0Compare；
The automobile side angle acceleration a that lateral acceleration sensor is measuredyWith default automobile lateral acceleration limit threshold value ay0Compare；
Step 4.1), as yaw velocity ωr＞ ωr0When；
Step 4.1.1), course changing control ECU control assist motors do not work；
Step 4.1.2), motor control unit controls the near front wheel wheel hub motor and off-front wheel wheel hub motor not to work and according to connecing
The current signal left rear wheel wheel hub motor and off hind wheel wheel hub motor reverse operation received；
Step 4.2), as yaw velocity ωr＜ ωr0, side acceleration ay＞ ay0When；
Step 4.2.1), course changing control ECU control assist motors do not work；
Step 4.2.2), motor control unit controls the near front wheel wheel hub motor and off-front wheel wheel hub according to the current signal received
The work of motor forward direction, control left rear wheel wheel hub motor and off hind wheel wheel hub motor reverse operation；
Step 4.3), as yaw velocity ωr＜ ωr0, side acceleration ay＜ ay0, automobile speed u ＜ u1, steering wheel angle θsw
＞ θsw0When；
Step 4.3.1), course changing control ECU Power assisted control assist motor forward direction work according to needed for when front steering；
Step 4.3.2), motor control unit controls the near front wheel wheel hub motor and off-front wheel wheel hub according to the current signal received
The work of motor forward direction, control left rear wheel wheel hub motor and the forward direction work of off hind wheel wheel hub motor；
Step 4.4), as yaw velocity ωr＜ ωr0, side acceleration ay＜ ay0, automobile speed u ＜ u1, steering wheel angle θsw
＜ θsw0When；
Step 4.4.1), course changing control ECU control assist motors do not work；
Step 4.4.2), motor control unit controls the near front wheel wheel hub motor and off-front wheel wheel hub according to the current signal received
The work of motor forward direction, control left rear wheel wheel hub motor and the forward direction work of off hind wheel wheel hub motor；
Step 4.5), as yaw velocity ωr＜ ωr0, side acceleration ay＜ ay0, automobile speed u1＜ u ＜ u2, steering wheel turn
Angle θsw＞ θsw0When；
Step 4.5.1), course changing control ECU Power assisted control assist motor forward direction work according to needed for when front steering；
Step 4.5.2), motor control unit controls the near front wheel wheel hub motor and off-front wheel wheel hub according to the current signal received
The work of motor forward direction, control left rear wheel wheel hub motor and off hind wheel wheel hub motor reverse operation；
Step 4.6), as yaw velocity ωr＜ ωr0, side acceleration ay＜ ay0, automobile speed u1＜ u ＜ u2, steering wheel turn
Angle θsw＜ θsw0When；
Step 4.6.1), course changing control ECU Power assisted control assist motor forward direction work according to needed for when front steering；
Step 4.6.2), motor control unit controls the near front wheel wheel hub motor and off-front wheel wheel hub according to the current signal received
Motor forward direction work, and control left rear wheel wheel hub motor and off hind wheel wheel hub motor not to work；
Step 4.7), as yaw velocity ωr＜ ωr0, side acceleration ay＜ ay0, automobile speed u ＞ u2, steering wheel angle θsw
＞ θsw0When；
Step 4.7.1), course changing control ECU Power assisted control assist motor forward direction work according to needed for when front steering；
Step 4.7.2), motor control unit controls the near front wheel wheel hub motor and off-front wheel wheel hub motor not to work, and according to connecing
The current signal control left rear wheel wheel hub motor and off hind wheel wheel hub motor reverse operation received；
Step 4.8), as yaw velocity ωr＜ ωr0, side acceleration ay＜ ay0, automobile speed u ＞ u2, steering wheel angle θsw
＜ θsw0When；
Step 4.8.1), course changing control ECU Power assisted control assist motor forward direction work according to needed for when front steering；
Step 4.8.2), motor control unit controls the near front wheel wheel hub motor and off-front wheel wheel hub motor not to work, it is left back to control
Wheel wheel hub motor and off hind wheel wheel hub motor do not work.
3. the mode switching method of the composite turning system according to claims 2, it is characterised in that step 1) middle steering
The automobile speed signal of change that the steering wheel angle and vehicle speed sensor that control ECU is measured according to steering wheel angle sensor are measured
The formula of current automobile yaw velocity is as follows：
In formula：a0=k1k2(a+b)2+(k2b-k1a)mu2；b0=k1k2(a+b)u；A is barycenter to front shaft
Away from；B is barycenter to rear axle wheelbase；L=a+b；U is car speed；ωrFor automobile yaw velocity；θswFor steering wheel angle；Ks
Scope can like according to driver to be chosen, and the scope is 0.12-0.37 1/s；k1、k2For front and back wheel cornering stiffness；M is vehicle matter
Amount.
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